Abstract
JAMSTEC has developed some particular kinds of autonomous underwater vehicle (AUV) as tools for carrying out important scientific work. One of them is YUMEIRUKA. It was designed to carry out a main mission which is to understand the seabed condition including seabed topography for seabed resource exploration. So it has high locomotion performance to make efficient use of some specialized acoustic sensors. UMEIRUKA has a high performance multi-CPU control system. It is composed of several CPUs which are connected each other via ether-network. It can share all information got by each CPU using the ether-network. And each CPU can control any devices incorporated in YUMEIRUKA via the ether-network. Moreover it can always detect health condition of each CPU and recover the CPUs if a CPU is broken down by any accidents. So it provides some important functions such as the load distribution, the system security and the automatic recovery. As the result, YUMEIRUKA can cruise autonomously for a long time depending on it. In this paper, the outline of YUMEIRUKA is shown and the architecture of its control system is mainly described.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
